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RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
28
Table 41 Measured Navigation Data Out – Binary & ASCII Message Data Format
Binary(Hex) ASCII(Decimal)
Name
Bytes
Scale Example
Units
Scale Example
Message ID 1 02 2
X – position 4 FFD6F78C M -2689140
Y – position 4 FFBE536E M -4304018
Z – position 4 003AC004 M 3850244
X – velocity 2 *8 00 M/s Vx/8 0
Y – velocity 2 *8 03 M/s Vy/8 0.375
Z – velocity 2 *8 01 M/s /8 0.125
Mode
1
1 04 Bitmap1 4
DOP
2
1 *5 A /5 2.0
Mode
3
1 00 Bitmap3 0
GPS Week 2 036B 875
GPS TOW 4 *100 039780E3 seconds /100 602605.79
SVs in Fix 1 06 6
CH 1 1 12 18
CH 2 1 19 25
CH 3 1 0E 14
CH 4 1 16 22
CH 5 1 0F 15
CH 6 1 04 4
CH 7 1 00 0
CH 8 1 00 0
CH 9 1 00 0
CH 10 1 00 0
CH 11 1 00 0
CH 12 1 00 0
Payload Length :41 bytes
1
For further information , go to Table 42
2
Dilution of precision (DOP) field contains
value of PDOP when Position is obtained
using 3D solution and HDOP in all other
cases.
3
For further information , go to Table 43
Note – Binary units scaled to integer
values need to be divided by the scale
value to receive true decimal value (i.e.,
decimal Xvel = binary Xvel /8).
Table 42 Mode 1
Mode 1
Hex ASCII
Description
0x00 0 No Navigation Solution
0x01 1 1 Satellite Solution
0x02 2 2 Satellite Solution
0x03 3 3 Satellite Solution (2D)
0x04 4 >=4 Satellite Solution (3D)
0x05 5 2D Point Solution(Krause)
0x06 6 3D Point Solution(Krause)
0x07 7 Dead Reckoning (Time Out)